🐛 [BUG] - Tick timings do not adhere to the specified tick frequency.

[Oberacda]

Description

When investigating the tick performance I noticed some issues in the way we calculated the tick time for our debug topics.
In addition I noticed that we actually tick the tree at a frequency of 500 Hz when only specifying 10 Hz.

Reproduction URL

https://github.com/fzi-forschungszentrum-informatik/ros2_ros_bt_py

Reproduction steps

1. Load any BT.
2. Record a rosbag with all topics.
3. Run the tree.
4. Visualize 1 / `/BehaviorTreeNode/debug/tick_frequency/data` topic in PlotJuggler

Screenshots

No response

Logs

No response

ROS 2 Version

Jazzy

OS

Ubuntu 24.04

[Oberacda]

[Oberacda]

These are the measurements for running the Problem 1 solution in the roscon24-deliberation-workshop repo two time.

[Oberacda]

The time tracking bug is fixed in #130 but the issues with the invalid tick frequency is still open

[Oberacda]

Ok after fixing another bug in the tick frequency calculation the deviation does not seem too significant.
Nonetheless we might want to investigate where these are coming from.